Controlling mechanism for stabilizing gyroscopes



Mai-y as, 1923. 1,456,744

H.L.TANNER CONTROLLING MECHANISM FOR STABILIZING GYROSCOPES Filed Oct.4, 1917 3 Sheeis-Shegt i mmv'ron HARE Y LIA NNER May 29,1923. 1,456,144

H. L. TANNER CONTROLLING MECHANISM FOR STABILIZING GYROSCOPES Filed001.4, 1917 s Sheets-Sheet 2 INVNTOR T 7. HHRRY LZZINNER.

May 29, 1923. 1,456,744

H. L TANNER CONTROLLING MECHANISM ,FOR STABILIZING GYROSCOPES FiledOctf, 1917' 3 Sheets-Sheet 5 HARRYLZ INNER- Patented May 29, 1923.

HARRY L. TALNNER, OF BROOKLYN, NEW YORK, ASSIGNOR TO THE srnany evac-SCOPE COMPANY, or BROOKLYN, NEW YORK, A oonronarroiv on NEW YORK.

Application filed October 4, 1917. Serial No. 194,646.

To all whom it may concern: v

Be it known that I, HARRY L. TANNER, a citizen of the United States ofAmerica, residing at 114% East 19th Street, Brooklyn, in the county ofKings and State of New York, have invented certain new-and usefulImprovements in Controlling Mechanism for Stabilizing Gyroscopes, ofwhich the following is a specification. V

This invention relates to gyroscopic stabilizers of the type usuallyemployed to stabilize ships, although the invention is capable of otheruses. More specifically the invention may be said to relate toa passivetype of stabilizer with added automatic controls imparting many of theproperties of the active type without the control gyros and othercomplicated apparatus of the active type. 1 j

s It is well known that in the ordinary passive system of stabilizationa poltion of the energy of stabilization is exerted when the ship isnearly at its extreme positions ofswing or oscillation. As a result thisportion of the energy, practically speaking. does not tend to decreasethe amplitude of the roll but merely to change the period. My inventionaims to prevent the expenditure of this portion of the energy at thisparticular point, or points, of the roll by locking the gyro againstprecession until after the ship has travelled a predetermined portion ofthe period from its extreme positions of roll and preferably also bybringing the precession to a low speed at a predetermined time beforethe ship reaches its extreme position of roll.

Another important object is to cause the precession of the gyro tomaintain a practically constant predetermined rate during each halfcycle of roll. I

It is well known to those skilled in the art that the amplitude of rollof a ship varies for different conditions of the sea and accordingly thespeed of precession in order to stabilize properly should be varied fordifferent conditions of the sea. Various systems of control forstabilizers vised for effecting this result. In these systems it will befound that the speed of precession varies in a jerky manner. In mysystem I aim to avoid this jerky act-ion. i. e.,

have been deto effect. a smooth control of the speed of precession so asto expose the operating parts to minimum strain.

A further object is to provide a system with the above enumeratedobjects and advantages of a small number of parts and employing no gyrosother izing gyro or gyros.

Other objects and advantages will appear as the description'ofthe systemproceeds.

Referring to the drawings which illustrate what I now consider thepreferred my invention:v 1

Fig. 1 is an elevational assembly of one form of my invention, certaindetails being omitted for the sake of clearness and the than the mainstabilfor of control. apparatus beyond line .A-A being on a much largerscale than the gyroscope and brake. V Y

Fig. 2 is awiring diagram of my invention. 7 I

Fig. 3 is a section on the line 3 3 of Fig. l.

Fig. 4 is a section on the line 4-4 of Fig. l.

Fi Fig. 1.

Fig. 5 is a fragmentary detail of a part of the mechanism illustrated inFig. F 1g. 6 1s a section on the line 6-6 of Fig. 1.

Fig. 7 is a fragmentary detail of a the mechanism illustrated in Fig. 6.

Fig. tion, of a form-of brake forming a part of my invention. i

Fig. 9 is a side elevation partly in section, of the struction shown inFig. 8.

Fig. 1.0 is an elevation of a motor conpart of 8 is a front elevation,partly in sec- 5 is a section on the line 55 of I trolled rheostatutilized iig my improved sys-,

tem.

Fig. 11 is a diagram employed in explaining a part of the operation.

Referring to Fig. 1 it will be seen that-as in other systems I employ astabilizing gyroscope 1 mounted for precession about the axis 2-2 whichaxis is placed in a fore and aft or athwartship direction depending onwhether it is desired to stabilize against pitch or roll of the ship. itwill be assumed that it is desired to stabit i'ze against roll.

For the sake of simplicity Before entering into the description of thespecific details of the physical embodiment of my invention hereinafterdisclosed, a recapitulation and restatement of the principal objects tobe accomplished will prove helpful. Referring to Fig. 11 let it beassumed that the arc, e, 71, represents halt the period of roll of theship for a given condition of the sea, a and 7t representing reversal ofroll, and suppose the ship is starting to swing; at c. Procession is tobe started at 7'' where" w, 7, represents a predetermined portion of theperiod. Precession is to take place at a pre determined constant speedduring the t me interval 7, g. and the speed of precession to bematerially reduced and in effect the gyroscope brought to rest duringthe interval g, h. Furthermore the above mentioned constant speed ofprecession from 7' to g is to be adjusted to fit the condition of thesea Thus it becomes neces ary to provide some device or mechanism forfixing the points 6, f, g and h with reference to the roll of the shipno matter what the period of. the latter may be due to the condition ofthe sea. The device provided by me for accomplishing this function iscomparatively simple and makes use of no auxiliary gyro or gyros. Thisdevice which may he termed a control device will be hereinafter morespecifically described.

In addition to this control device I provide precession speed controlmechanism and centralizing mechanism as will later appear in detail.

Control device.

The control device may assume the form shown in Figs. 1, 2, 5. G, and'7. A pair of parallel shafts 53 54: are journaled for rotation inuprights 56, 55, 56 secured to the base 57-. The shafts 53, 5d havefixedly secured thereto hubs 58 and 59 respectively. The hub 58 hasintegrally connected therewith a pair of oppositely extending; arms 60.61 to one of which, 60, a lever 62 is pivoted at 63. The upper end oflever 62 is provided with a. laterally extending lug 64 (see Fig. 5)adapted to engage the upper end of the arm 60. A spring 65 secured tothe lower ends of lever 2 and arm 61 tends to maintain the luo ljt inengagement with the arm (ll). The elements (30 and 6:3 on the hub 59correspond to elements 60 to on the hub 55 and need no furtherdescription. For the purpose of oscillating the shafts, 53., 5st atdesired times a Tshaped friction arm 66 is frictionally engaged with theshaft 3. The particular structure forming" this friction connection isshown as comprising a friction collar (37 fixedly secured to the shaftand loosely surrounded by a split collar (38 secured to the lower end ofthe T-shaped arm 66. The leg); ot the last mentioned arm shown hollowedout to form a guide for a friction block 69 adapted to engage thefriction collar 67. For the purpose of adiustimz the frictional forcebetween the block 69 and collar (57 means may be provided for varyingthe pressure of the block on the other elf the last named elements.These means may assume the form of a spring '70 interposed between theblock 69 and a vertically slidable block 71 which is provided at itsupper face with a conical seat to receive the lower conically shaped endof a rod 72, all of which elements may be located within the hollow legof the T-shaped arm 66. The rod 72 is engaged at its upper end by a setscrew 73 which engages in the upper end of the leg or vertical portionof the T-shaped arm. Obviouslyby turnin the set screw 73 the pres sureadjustment above referred to may be effected and an adjustment once mademay be maintained by tightening the lock nut H. The horizontal arms 75and '76 of the T- shaped member 66 are each provided with a downwardlyextending lug 7'? and 78 each adapted to engage a corresponding one ofthe levers (32 and 62 on movement'of'the member G6 away from centralposition and thereby oscillate the shafts 5?) and 541. Morespecifically, vlien the member ('36 moves to the left the lug 77 engagesthe lever 62 to oscillate the shaft 53 in a counter-cloclrwisedirectionbut the lug; '78. in spite of the fact that it engages the lever 62,does not oscillate shaft a l as the lever 62 moves away from the arm 60.Conversely when the member (36 moves to the right shaft B l isoscillated by the T-shaped arm but not the shaft The shaft 2-3 abovementioned. is shown coupled to the gyro l by means of segmental gear 5,secured to the gyro casing. and a pinion 4 meshingwith gear and securedto shaft 3. )bviously the shaft 3 will reverse whenever PZ'GFL-SSlOll ofthe gyro i ri'werses. it will be seen that one or the other of theshafts 5 3. 54 is oscillated every time the sha ft reverses direction ofrotation and the shaft reverses every time precessirni of: the gyro lreverses or in other .vords one or the other of the shafts 53. isquiclql y oscillated or tripped immediately after the ship passestlll'()l1;1'li the extreme positions of roll or oscillation. Stops T9and Sll may be fixedly secured to the uprights Mil'or the purpos-ze oflimiting the throw of the T-shaped meinher (it). lly virtue of thisabove dcscrilud structure the uuivement of the shafts .nay be utilizedto establish. what u ay be termed. reference points 0 and 1 (See Fig.11). Thus shafts 5 5% may have secured thereto the arms dl. and 32, eachprovided with a slot 93. at their free ends. A vertically movable rod 86may be connected to the arms 81 and by a pin 85 passing: through slot83. is the rod Stiis kicked up at each reversal of precession it isobvious that if some mechanism is provided for causing it to drop apredetermined constant distance at a practicallyuniform rate it may beutilized quite readily to fix the points 7' and (see Fig. 11) withrespect to points 6 and 71.

The mechanism preferred at present by me. for causing the rod86indicated is shown in detail A dash pct 87 is shown as base 57 andcontains a piston 88 secured to the lower end of the rod 86. Acheckvalve 89011 the piston permits unimpeded upward movement of the rod86 but closes on downward movement of the latter to retard its descent.A spring 90 may be provided within the'cylinder 87, and above the piston88, to aid in returning the piston todownward position. The upper andlower ends of the cylinder are shown connected by a bypass 91.containing a needle or other regulating valve 92. By adjusting thelatter the by-pass 91 may be restricted or opened whereby the time takenby the piston 85: to drop may be controlled. ,Mechanism is to drop asabove in Figs. 6 and 7. mounted on the provided for automaticallyadjusting the position of the needle valve nism may assume the form of aratchet wheel 93, mounted on the spindle of the valve 92 and cooperatingwith a pair of oppositely directed spring pawls 9e, mounted on the rod96. The last mentioned element is shown slidably mounted in a bracket97, secured to the dashpot cylinder, and is pivotally connected at itsupper end to the arm 82. I

The operation of the control thus far described is as follows:

Precession of gyro 1 will reverse every time the ship tends to swing ina reverse direction and every time precession reverses the rod 86 israpidly kicked up. This 92. This mechadevice, as

causes the pawl 95' to engage the ratchet wheel 93, while the piston 88is traveling from b toa, tostep the said ratchet wheel one notch in sucha direction as to open the valve 92 wider. The piston 88 starts todescend, being impeded by the trapped fluid in the bottom of thecylinder. When the piston reaches point '0, the ratchet wheel 93 and ifthe piston 88 is kicked up again, by reversal'ot precession, as soon asit reaches the point d, the pawl 94 will have rotated the wheel 93 onenotch in a direction opposite to that due to pawl 95. In short if thepiston 88 travels from a to (Z between two' successive reversals ofprecession the valve '92 will be unchanged in condition for thedown-stroke of the piston. If the piston is dropping too slowly; i. e.,if it fails to reach the point (Z before precession reverses, the pawl9% does not cause the ratchet wheel 93 to restrict the passage of valve92 so that in the next down-stroke of the piston the fluid impedance isless. and the piston will consequently drop more quickly. This willcontinue until a stable condition is continue until the pawl 94: engagesing position; 'i. e., th tends to apply the brake.

collar 12 other shoe reached when the piston drops from a to d in theinterval between two reversals ofprecession. It the piston drops tooquickly; i. e., if it travels past- Z before precession reverses, thevalve 92 willbe closed a greater extent (due to thefact that pawl 94'nowrotates the wheel 93 two notches) than it was opened by the pawl 95 sothat the impedance to the down stroke will be increased and the descentslowed down. This would a stable condition is again Thus, at any timethe piston 88 from a to d at'a practically unireached.

will drop form rate to the average time. interval between each two or"the immediately preceding reversals of precession.

88 drops at such a rate as to fit the condition of the sea.

As electrical means for effecting the precessionspeed control arepreferred by me at present I provide the rod 86 with contacts 49 and15.4 adapted to engage the contacts 50 and 155 respectively at points inthe downstrolqe of said rod 86 corresponding to the-points f andgof'Fig'lli tacts 50 and 155 may-be adjustablysecured to the cylinder87.

Preoession speed control mechanism.

As stated in connection with Fig. 11, at various times in the operationthe gyro. 1 I is to be locked against precession, at other precession isto be kept times the speed of constant and this constant speed isto beadjusted to fit the condition of the sea. I ac complish'thesefunctions-in the present specifio embodiment speed responsive brakingtorque, and means for changing the efiective relationship between thebrake and speed responsive device, which elements will be taken up indetail in the order named.

A preferred type of brake is one in which a magnet'acts in opposition toaspring. f Either'the magnet or the spring could be utilized to applythebraking torque. Iprefer to utilize the form of brake shownin Figs; 1,8 and 9 which isvbiased to brak The brake is shown as comprising a drum6, keyed or otherwise secured to the shaft 3 and a plurality of brakeshoes 7, 7 each secured at one end to a fixed. base block 8 by means ofpins 9. One of the shoes 7 has secured thereto at its free end one endof a rodlO. the other end of said rod being screw threaded whereby a nut11 may be screwed on said rod to also mounted on the rod.- The 7 isshown as provided at its and in a total length of time equal In otherwords, the piston by employing abrake, adevlc'e for controlling thespring constantly provide an abutment fora The con- 8 free end with amember 13fthrough which Y the rod 10 passes and which member 13 forms aseat for one end of a compression spring 14: which abuts at its otherend the collar 12. It will be apparent that the spring is constantlytending to urge the shoes 7 to braking position. The spring 14 is ofsuch strength that it is capable of exerting a force, through the brake,su'fiicient to lock the gyro against precession at the desired time.

One form of: electromagnetic means for efl'ecting partial. or totalrelease of the brake is illustrated in Figs. 8 and 9. The member 13 isshown cup-shaped and has secured thereto an annular shel 15 of magneticmaterial which carries a solenoid 1G. The armature- 17 ot theele-ctro-magnct is secured" to the other shoe '7 tl'irough the rod 10.Ol viously sufficient energization 0t thesolenoid 16 will separate theshoes 7. and release the brake.

The above described brake may also be utilized, not only to lock andrelease the gyro for precession, but to control the speed of precession.Thus by varying the strength of current through the solenoid 16 the pullexerted between the solenoid and its armature 16 and consequently theeffective thrust of the s1 ring 14 on the shoes 7 may be varied.

The speed responsive device is shown as a governor 2O driven byprecession of the gyroscope and controlling the energization of thesolenoid 16 in a manner hereinafter more specifically described. Thegovernor 20 is shown as secured to a vertical shatt 21, rotatable in abearing and provided with a beveled gear :22 meshing with siir'iilai'bevelled gear 23 on the shaft 3. The governor comprises a metallicsleeve 24 connected to the governor balls and positioned in accordancewith the speed of rotation of shaft 21 and therefore in accordance withthe speed of precession ot the gyroscope.

While the governor 20 might be connected in various ways to control thesolenoid 16 I prefer at this time to use the connections andinstrumentalities illustrated. The sleeve 24 is shown as provided with adish 26 forming a movable contact adapted to cooperate with a pluralityof relatively stationary adjusts able contacts 23', 28. The contacts 27,28 are connected by means of wires 29 and 30 to a corresponding fieldwinding 31 or 32 ot the motor 253, the field windings 31 and 532 beingreversely wound. The disk contact 26 is shown connected through thesheit 2'! and conductor to a line wire 2'35 and the tree armatureterminal of the motor 3?, is shown connected to the other line wire 36by means of a wire 87.

The reversible motor 33 is employed to ad just a rheostat 1S electrially connected to the brake solenoid 16, the electrical connectionsbeing hereinafter more specifically described.

The motor 05 is shown as having a long shaft 38 journaled in bearingsl0, on the rheostat l8, and provided between the bearings 40 with worm39. While I am aware that various types of rheostats might be employedthe particular one illustrated (see Fig. 10) comprises a pivoted arm 42provided at one side the pivot with a segmental rack ll meshing withworm 39, and at the opposite side with a prolonged portion co-operatingwith a series of contacts d3 connected to taps of a resistance as. Aswitch comprising contacts 41-5 and 16 may also be provided on therheostat 18 to be opened by the arm 42 when the latter is at the extremeleft hand position on contacts 43. The contact 45 is a spring contactfixed to the rheostat casing and biased to engage, normally, the fixedcontact a6. when the arm 4:2 approaches the extreme left hand position alug of insulation it, provided on said arm e2, engages the free end ofspring contact 45 to cause it to be disengaged from the other contact16. The contacts 45, 46, are placed in series with the wire 80 for apurpose which will appear later.

is shown in Fig. 52 the rheostat is connected in series with the brakesolenoid 16 through the following circuit from line wire through wire48, contacts a9 and 50, wire resistance a l, arm 12, wire 51, brakesolenoid 16, wire 52 to supply wire 36.

ll ith the above described structure and connections it is apparent thatit contacts ll) and 50 are open the solenoid 16 is deenergized and thebrake applied to lock the gyro 1 against precession. This, of course,takes place when the gyroscope approaches the limit of t precession-a1n1ovementi. 0., at point g in Fig. 11, the brake operating to bring thegyroscope quickly to rest and the brake remaininglocked until the pointg is reached on return roll of the ship. ilrssuming hat contacts 49 and50 are closed the precession will be kept at a speed corresponding tothe position of the contacts 27, 28 with relation to disc 26. Thus itthe precession is above a predetermined speed, disc 26 engages contact27, to energize motor in such a direction as to cause the motor tooperate rheostat arm 4-2 to cut in more resistance le and therebyincrease the braking torque. This will slow the precession down.Similarly, it the speed of precession drops below this predeterminedconstant speed, the contact 28 is engaged and the speed is allowed topick up.

For changing the effective relationship between the speed responsivedevice and the brake I provide means for shifting the position of thecontacts 27, 28. By elevating contacts 27, 28, the permitted constantspeed of procession'is raised while the latter is lowered by loweringsaid contacts.

The last mentioned means may assume the term illustrated and constructedsubstantially as follows: The base 103 which carries contacts 27, 28 isshown provided With two internally screw-threadedbrackets 130, 131 whichareengaged by a screwthreaded rod 13.. The rod 132 is mounted on anupright post 137, secured to base 57 by means of journal brackets 133and 18%, said rod being rotatable'in the ournals but prevented fromvertical movement by means of collars 135, 136. Rotation of the base 103may be prevented by providing guide strips 1-38, (see Fig. 3) 'on thejournal bracket 134, which engage slots 139 pro vided in one side of thesaid base 103;

Obviously by rotatingthe rod 132 the base 103 and contacts 27, and28-aremoved in a vertical direction either up or down according to thedirection of rotation'of the rod.

The mechanism for actuatingthe rod 132 may assume the torm of anelectroamignetlcally actuated pawl and ratchet 19111118- plunger 14% ofelectromagnets 14,5, 1&6

which are in turn mounted on the base 57 by means of an end bracket 1&7.The arm 1 1-3 may bebiasedjto normal position'by means of a spring 148secured to a bracket 150, which in turn is mounted on base 57, the saidspring engaging'a squared, fiat portion 1&9 on the arm. 1 13. Theelectromagnets are so designed that if energized succcssivcly, eventhough simultaneously remaining energized, the one first energized willhold the plunger 1 M in attracted POSl'. tion. Springs 8 and 3 may beprovided to prevent actuation of the ratchet wheel 1 10 by either of thepawls when the latter are returning to neutral position.

The contacts and connections for controlling the energization of magnets1 15, and 146 may assume the form illustrated. A contact 151, which Iterm a limit contact, is shown mounted on the contact 28, but insulatedtherefroimand is adapted to be ngaged only when the governor drops to acomparatively low iced. This contact is adapted to energize the magnet 115 through the following circuit; starting with line wire 35, throughwire as, disc 26 contact 28, contact 151, wire 152, magnet 14-5, wire153 toopposite line wire 36. l or controlling onergization of the magnet141-6 have proi'ided contacts 151, 155 in all respects the same contacts49, 50, except that the formerfare preferably adapted to engage w ienthe rod 86 is the same distance from its lowermost position of normaltravel as the said rod was from its up ermost position or" normal travelwhen contacts 1-9, 50 closed. The circuit of the magnet 1 16 is asfollows: starting with;

line wire35 through wire 18, rod 86,con-

tact 154, contact 155, wire 156, magnet 146, I

wires 157 and 153 to li-neewire 36..

The operation of my system as thus far described maybest be understoodby againreferring to Fig. 11. "Torepeat": thearce, 72, representshalt't-he period'ot' actual roll of the ship with a givencondition'otfsea'. This] period of actual rollshould be distinguishedcated onrod 86 as to close at a point Corr-c spondlng to f in Figjll.will be'clear that the ratio of 6, 7L to e, gis a constant.

e. 7 from the natural period of the ship', which is constant, as theformer varies withdiften,

Now assuming; thatthe roll sta-rt-sat e ,,the

rod 86, which has'been kicked u by reversal of precession, starts tovdrop. After a time 6,

f the contacts 19, 50 close to release the brake to allow precession ofthe gyro 1' to begin."

This precession is maintained at a constant speed by thespeed'responsive device 20, etc. It thecontacts 2'7, 28 are in suchposition as to allow a rate of precession too high for the condition ofthe sea'e'xisting at that timethe precession will drop to such anextent,'or1or to the closure of contacts 15%, 155, as to cause contactto be established between disc 26 and contact 151. This sequence ofoperation will cause the magnet 145 to be energized'bfore the magnet 116 which would causetherod 132 to be rotated to lower base 103 andcontacts 27, 28, so that the permitted constant speed of precessionwould. be changed to a lower yalueon the other hand if pre-f cessiontakes place-at too lowa speed for the existing condition of sea themagnet lt6 will be energized ahead otinagnet 145 and con tacts 27, 28will be shitted upwardly so ast-o cause the permitted constant speed ofprecession to be raised. Thus the cycle of operation summed-up'is asfollows: Starting with the ship at one extreme position of roll (6) thegyro'l is locked against precession tor-a predetermined portion of thehalf period (6,

the 0 re 1 is then )ermitted' to )recess ataconstant speed of valuewhich will;

correspond to the condition of the sea, until a point 5 is reached whichoccurs preferably, before the roll reverses at 7t. lit this point,

contact 19 is disengaged from contact 50,

and the circuit through solenoid 16 broken,

thereby applying the brake with the maximum force; the brake thenremaining locked for the reason above described until the point g is'again reached on the return os cillation of the ship. the roll of theother half period (it toa) is" similar to that oi the above describedhalt The operation for- A stabilizer designed asabove described".actsfmuch more etiiclently than the ordinarypassive type and is simplerin design than the active type as all control gyros are disp ense dwith.

C'entmZiein-r/ mechanism.

I for shifting the base 103 and may be const-ructed as follows: Theslide 102, on which the contacts 27, 28 are mounted, is shown asprovided with adovetail extension 101 (see Fig. 3) on one side thereofwhich is slidable in a dovetail groove 105 in the base 103. The slide isbiased to lower position, with respect to its base 103, by gravity andit desirable the action of gravity may be supplemented by a spring 106secured at its upper end to the lower end of slide 102 and at its lowerend to a lug 107 provided at the lower end of base 103. A pair ofelectromagnets 108, 109 are shown provided on the upper end of the base103 and are provided with a plunger 110 secured at its lower end to theupper end of slide 102. These last men tioned magnets are so arrangedthat it either is energized alone the solenoid plunger will be raisedbut on simultaneous energization the plunger is undisturbed as the twomagnets then neutralize each other.

The centralizing switch may assume theform illustrated, in which a lugor arm 111 provided on the frame of the gyro 1 carries, pivotallyconnected thereto at 112, a switch arm 113. Contacts 114:, 115 are alsomounted on but insulated from the arm 111 and segmental contacts 116 and118 are mounted on. but insulated from, one of the bearing brackets 119of the gyro.

The centralizing switch and its magnets 108, 109 may be connectedelectrically as follows: Starting with line wire 35, a wire 120 leads toa resistance 121 which in turn is connected to contact 114 by means ofwire 122. The opposite contact 115 is connected to magnet 109 by meansof a wire 123 and the other end of said. magnet 109 is connected to wire120. The contact segment 116 is con nected to one end of magnet 108 bymeans of wire 12 1, the other end of said magnet being connected to theline 36 by means of wire 125. The remaining contact segment 118 isconnected, by means of Wire 126, to the resistance 127 which, in turn isconnected to wire 125.

The operation of the precession centralizing feature of my invention issubstantially as follows: Suppose that precession is taking placebetween an and 3 (Fig. 2) and that the lug 111 is in the position shownand traveling to the left, The switch arm 11?; will engage segment 116and be moved into enga men h. renn 115 thu l g circuit from line wire35, through wire 120, magnet 109, wire 123, contact 115, arm 113,segment 116, wire 124, magnet 108 and wire 125 to line 36. Magnets 108,109 both being energized neutralize each other and n0 pull is exerted onplunger 110, (see Fig. 1). "When precession reverses at m the arm 113 isthrown away from contact 115 and into engagement with contact 114; tobreak the last described circuit and to establish the following circuit:from line wire 35 through wire 120, resistance 121, wire 122, contact114, arm 113, segment 116, wire 12 1, magnet 108 and wire 125 to linewire 36. Magnet 108 being energized alone raises plunger 110 and slide102 to raise the contacts 27, thereby permitting the precession tospeed. up from x to 2.

lVhen the lug 111 reaches segment 117 the last mentioned circuit isbroken to cause plunger 110 to drop as both magnets are now deenergized.When precession reverses at y the arm 113 is thrown over to contact 115and the following circuit establishedz. from line wire 35 through wire120, magnet 109, wire 123. contact 115, arm 113, segment 118. wire 126,resistance 127 and wire 125 to line 36. Energization of the magnet 109alone, causes the same eilect as energization of magnet 108 alone, i.e., raising the permitted speed of precession.

Summing up the last described cycle:

. When the precession is from extreme outward position to the normalcentral position the procession is speeded up, but when the precessionis away from central position precession takes place at the usual speed.As a. result any tendency to precess more to one side of center than tothe other, will be overcome.

In accordance with the provisions of the patent statutes, I have hereindescribed the principle of operation of my invention, together with theapparatus, which I now consider to represent the best embodimentthereof, but I desire to have it understood that the apparatus shown isonly illustrative and that the invention can be carried out by other Imeans. Also. while it is designed to use the various features andelements in the combination and relations described, some of these maybe altered and others omitted without intcrferring with the more generalresults outlined, and the invention extends to such use,

Having described my invention. what I desire to secure by Letters Patentis:

1. In combination, a stabilizing gyroscope, means for locking saidgyroscope against precession and means for rendering said locking meansineffective to lock said gyroscope at a predetermined point in aprecession-causing roll, said second named means being controlled bysaid gyroscope.

2. In. combination, a stabilizing gyroscope, means for locking saidgyroscope against precession and'means controlled by said gyroscope forreleasing the latter be means controlled by said gyroscope for varyinthe value of said constant speed on variation of the amplitude of rollof the ship.

5. In combination. a stabilizing gyro scope, means controlled by saidgyroscope for maintaining the speed of precession of said gyroscopepracticallyconstant for the major portion of a half period of roll andmeans controlled by reversal of precession of said gyroscope for fixingthe value of said constant speed.

6. In combination, a stabilizing gyro.- scope, a speed responsive deviceconnected to said gyro, means connected to said speed responsive devicefor controlling thespeed of precession of said gyroscope and meansincluding a member actuated on reversal of precession of said gyroscopefor changing the eflective relation between said device and said firstnc med means.

'7. I11 combination, a stabilizing gyroscope, a speed responsive deviceactuatedby precession of said gyroscope, means con' trolled by saiddevice for controlling the speed of precession of said gyroscope and.

means controlled by said gyroscope for changing the effective relationbetween said device and said first mentioned means.

8. In combination, a stabilizing gyroscope, a speed responsive deviceactuated by precession of said gyroscope, means con trolled by saiddevice for controlling the speed of precession of .said gyroscope andmeans. including a control device actuated by said gyroscope, "forchanging the eliective relation between said device and said firstmentioned means.

9. In a ship stabilizing system, a gyro scope, a control device actuatedin one direction at each reversal of precessionof said gyroscope, meansfor causing said control device to move at a practically uniform rate inthe opposite direction between two re vcrsals of precession and meansfor maintaining the extent of movement of said device in the lastmentioned direction practically constant-although the number ofreversals of precession, of said unit of time. niayvary. a

'10. In combination, a stabilizing gyroscope, a control devicecomprising a movable element, means for moving said element in onedirection upon reversal of precession of said gyromeans for causing saidelement to move in the opposite direction at a substantially uniformspeed and means comprising a part actuated upon reversal of processionof said gyroscope for adjustingthe value of the above mentioned speed.

11. In combination, a stabilizing gyroscope, a control device comprisinga movable element, means forrapidly actuating said element in onedirection on reversal of pr tarding the movement of said element ingyroscope, per

' ession of said gyroscope, means "for re the opposite direction, amember controllingsaid retarding means and meansactuated said memby saidgyroscope "for actuating per in opposite directions. I

12. In combination, "a. yroscope, a da'sh-- pot, means forrapidlyelevating the piston of said dash-pot on reversal of precessionof said gyroscope, means including a valve for controlling the flOW offluid from one end of said dash-pot tothe otherand means actuated onreversal of-pre'cession of said gyroscope-tor operatin said valve.

18. In combination, a gyroscope, a control device movable at apracticallyuniform speed and a practically constant extentduringsuccessive reversals of precession of said gyroscope and means forcontrolling thespeed of precession ofsaid gyro, said means beingcontrolled by said device.

In combination, a gyroscope, a control device, means for causing saiddevice to movea practically constant distance at-a practically uni'tormrate during successive reversals or" precession of said gyroscope andmeans controlled by said device for locking said gyro againstprecession.g

15. In combination, a gyroscope, a c0n' trol device, means for causingsaid device to move a substantiallyconstant distance at a substantiallyuniform speed during successive reversals of precession of saidgyroscope, a speed responsive device actuated by precession of saidgyroscope, means con. trolled by said speed responsive"device forcontrolling the speed of precession of said gvro and means controlled bysaid control device for changing the efi'cctiverelation be-v tween saidspeed responsive device and said speed controlling means.

16. In combination, a gyroseope,a control device, means for causingsaiddevice to move-a substantially constant distance at. a substantiallyuniformspeed during successive reversals of precession or" said gyro.-

scone a s eed responsive device actuated b precession of saidgyroscopeymeans coniio trolled by said speed responsive device forcontrolling the speed of precession of said gyro, means for controllingsaid speed controlling means from said control device and meanscontrolled by said control device for changing the effective relationbetween said speed responsive device and said speed controlling means.

17. In combination, a stabilizing gyroscope, a control device actuatedby reversal of precession of said gyroscope, means for preventingprecession of said gyroscope and connections between said device andsaid means.

18. In combination,- a stabilizing gyroscope. a control device actuatedby reversal oi? precession of said gyroscope, means mechanicallyconnected to said gyroscope for controlling the speed of precession ofthe latter, a speed responsive device connected to said gyro and to saidspeed controlling means and means controlled by said control device forshifting the connections between said speed responsive device and saidspeed controlling means.

19. In combination, a stabilizing gyroscope. a speed responsive devicedriven at a speed proportional to the speed of precession of saidgyroscope, means controlled by said device for controlling the speed ofprecession of said gyroscope. precession cen tralizing means connectedto said gyroscope and means controlled by said centralizing means forchanging the efiective relation between said device and said speedcontrolling means.

20. In combination, a stabilizing gyroscope. means including a partactuated by said gyroscope for controlling precession of said gyroscope,means, including a speed responsive device driven at a speedproportional to the speed of precession of said gyroscope. forcontrolling the speed of precession of said gyroscope and precessioncentralizing means including a part actuated by precession of saidgyroscope.

21. In combination, a stabilizing gyroscope. a control device actuatedon reversal oi precession of said gyroscope, a centralizing deviceactuated by said gyroscope, a speed responsive device driven at a speedproportional to the speed of precession of said gyroscope. meansconnected to said gyroscope for controlling the speed. of pie cession ofthe latter, connections between said speed responsive device and saidmeans, and means controlled by said control device and by saidcentralizing device for Chang ing the eii ective relation between saidspeed responsive device and said first named means.

22. In combination, a stabilizing gyroscope, means for braking theprecession of said gyroscope and means including a centralizing devicegoverned by said gyroscope for causing the braking torque applied whensaid gyroscope is processing toward central position to differ from thatapplied when the precession is away from central position.

In combination, a stabilizing gyroscope, precession retarding meansconnected thereto, a device actuated by precession of said. gyroscopeand means including said device for causing the torque exerted by saidretarding means when said gyroscope is precessing toward centralposition to differ from that exerted when the precession is away fromcentral position.

2%. In combination, a stabilizing gyroscope, an electro-magnet, meansconnected to.

said gyroscope for energizing said magnet wl'ien said gyro is precessingin one direction on one side of central position and means fordeenergizing said magnet when said gyro is processing in the oppositedirection on the same side of central position.

25. In combination, a stabilizing gyroscope, an electro-magnet, acontact, means for causing said electro-magnet to shift said contactwhen said gyro is processing in one direction on either side of centralposition and means for causing said electro-magnet to release saidcontact when said gyro is precessing in the opposite direction on thesame side of central position.

26. In combination, a stabilizing gyroscope, a switch connected to saidgyroscope, a plurality '01"? electro-magnets and means for energizingany one or all 01" said electromagnets, said means being controlled bysaid switch.

27. In combination, a stabilizing gyroscope, a control device actuatedby reversal of precession of said gyroscope and a precession controllingbrake controlled by said device.

28. In combination, a passive stabilizing gyroscope, a control deviceand a centralizing device controlled by said gyroscope, precessioncontrolling means and connections between said devices and said means.

29. A ship stabilizing system comprising a passive stabilizinggyroscope, precession limiting means connected thereto and meansactuated by said gyroscope and operating through said other means forsynchronizing the procession of the gyroscope with the roll of the ship.

30. In combination. a stabilizing gyroscope. a speed responsive deviceactuated by said gyroscope, a centralizing device actuated by saidgyroscope and precession retarding means controlled by said devices.

31. In combination, a stabilizing gyroscope, a control device, a speedresponsive device. a centralizing device, each of said devices beingactuated by said gyroscope and a precession controlling brake controlledby said devices.

connections between said device and means,

a control device actuated by said gyroscope scope, an electromagnet cprecession conscope, a speed resgonsive'device actuated by saidgyroscope, precession controlling means,

and means controlled by said control device forshift'ting saidcoimections.

In combination, a stabilizing gyroscope, a speed responsive deviceactuated by said gyroscope, precession controlling means, connectionsbetween said device and means, a centralizing device actuated by saidgyroscope and means controlled by said central izlng device for shiftingsaid connections.

34. In combination, a stabilizing gyroscope, a speed responsive deviceactuatedby said gyroscope, precession controlling means, connectionsbetween said device and means, a centralizing device actuated by saidgyroscope, a control device actuated by said gyroscope and meanscontrolled by said centralizing and control devices for shifting saidconnections.

35. In combination, a stabilizing gyroscope, a control device actuatedby reversal of precession of said gyroscope, a switch actuated by saiddevice, an electro-niagnetic precession controlling brake and meansincluding said switch for energizing and deenergizing the brake magnet.

36. In combination, a stabilizing gyroscope, a control device actuatedon reversal of precession of said gyroscope, a switch actuated by saiddevice, a centralizing switch actuated by said gyroscope, anelectro-magnetic precession controlling brake and means including saidswitches for controlling the energization of the brake magnet.

37. In combination, a stabilizing gyroscope. a control device actuatedon reversal of precession of said gyroscope, a switch actuated by saiddevice, an electro-magnetic precession controlling brake, meansincluding said switch for energizing and deenergizing the brake magnet,a speed responsive device actuated by said gyroscope and means includingsaid last mentioned device for controlling the strength of currentthrough said magnet.

38. In combination, a stabilizing gyroscope, an electromagneticprecession controlling brake, a circuit for energizing the brake magnet,means for varying the strength of current through said magnet, a speedresponsive device actuated by said gyroscope and a centralizing switchactuated by said gyroscope, said means being controlled by said switchand said device.

39. In combination, a stabilizing gyroscope, an electromagneticprecession controlling device, a speed responsive device actuated bysaid gyroscope,'electrical con tacts cooperating with said device, meansincluding said contacts for controlling the energization of the brakemagnet, a control device actuated by said gyroscope andmeans controlledby said control device for shifting the position of said contacts withrespect to saidspeed responsivedeviceh -40. In combination, axstabilizingtgyrotrolling device, a speed responsive device actuated bysaid gyroscope, electrical contacts cooperating with said device,- meansincluding said contacts, for controlling the energization of the brakemagnet, a centralizing switch actuated by said gyroscope and meanscontrolled by said centralizing switch for shifting the position of saidcontacts with respect to said speed responsive device.

41. In combination, a stabilizing gyroscope, an electromagneticprecession controlling device, a speed responsive device actuated bysaid gyroscope, electrical con tacts cooperating with saiddevice, meansincluding said contacts for controlling the energization of the brakemagnet, a centralizing switch actuated by said gyroscope and meanscontrolled by said control device and by said centralizing switch forshifting the position of said contacts with respect to said speedresponsive device.

42. In combination, a passive stabilizing gyroscope, a control deviceactuated-upon reversal of precession of said gyroscope and precessioncontrolling means controlled by said device.

43. In combination, a stabilizing gyroscope, means controlled by saidgyroscope for opposing precession for a predetermined portion of a rolland means for maintain-. ing the speed of precession of said gyroscopepractically constant for a larger portion of the roll.

44. In combination, a stabilizing .gyroscope, a control device actuatedby reversal of precession of said gyroscope, means for controllingprecession of said gyroscope and connections between said. device andsaid means. .1 I i 45. In combination, a stabilizing gyroscope, acontrol device actuated by reversal of precession of said gyroscope, andprecession controlling means controlled by said device.

' 46. In combination, a stabilizing gyroscope, a speed responsive deviceactuated by said gyroscope, a centralizing device actuated by saidgyroscope, and precession controlling means controlled by said devices.

47. In combination, astabilizing gyroscope, a device for synchronizingsaid gyroscope with the roll of the ship controlled by said gvroscopeand means controlled by said synchronizing .device for varying the speedof precession of-said gyroscope for the purpose specified.

48. A ship stabilizing system comprising a passive stabilizinggyroscope, and means 5 a stahilizin a rosco e means for limitin sinature.

g Q 1 b a for limiting the period of precession of the lation of theship, and means for maintaingyroscope to the phases of maximum veing thespeed of precesslon substantially locity of oscillation of the ship.

constant during the periods of precession. 10 49. A ship stabilizingsystem comprising In testimony whereof I have afiixed my the periods ofprecessionof said gyroscope to the phases of maximum velocity of oscil-HARRY L. TANNER.

